JPS58192776A - Device for charging and/or removing press article or similar article - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a workpiece pick-up system that is used to automatically move (pick up, move, and release workpieces between different positions or stations in a repetitive manufacturing process). and/or improvements in or relating to handling equipment (relating to, for example, such equipment being used for loading and/or unloading presses in the production of metal stampings or stampings; details To illustrate, the present invention relates to such an apparatus configured to impart reciprocatable linear movement to the workpiece support means of the apparatus, and thus to the workpiece when held.

One such device is described in British Patent No. 1.895.058 G). This known device includes a linearly reciprocatable wheeled carriage for supporting any one of a plurality of workpiece handling attachments.

The carriage is restrained by guide rails to maintain a constant orientation as it reciprocates along a linear path. The carriage is pivotally connected to a crank lever that is pivotally connected to a crank arm. These three pivots are parallel and the effective lengths of the crank arm and crank lever are equal when measured between the pivots. A gear coupling with a ratio of 2=1 from the fixed gear of the crank arm pivot to the gear fixed to the crank lever and arranged on the crank lever pivot allows the crank arm to maintain its pivot axis intersecting the linear path of the carriage. The carriage is configured to impart linear motion to the carriage as it rotates about its center.

It is an object of the present invention to include a workpiece support means configured to reciprocate in a straight line without the use of guide rails to determine its path of motion, and preferably to orient the workpiece support means. An object of the present invention is to provide a workpiece handling device for an industrial press that maintains a constant state.

In one aspect, a preferred embodiment of the present invention includes:
The following workpiece handling equipment is provided. that is, an attachment means, a first arm pivoted to the attachment means for movement about a first axis, and a second arm for movement about a second axis parallel to the first axis; a second arm pivotally supported on the first arm; and an eighth pivot parallel to the first and second pivots (the machining arm pivoted on the second arm). and wherein the first and eighth pivots are substantially equidistant from the second pivot, wherein the workpiece support means substantially (moves linearly). first coordinating means configured to coordinate the movement of said arm about said first and second pivot axes so as to characterized in that it includes a second coordinating means comprising a geared coupling having a desired ratio between said first arm and said workpiece support means to avoid angular changes despite movement; This is a workpiece handling device.

Preferably, the first arm is pivotally mounted on a linearly reciprocatable carriage of the attachment means. The carriage is reciprocatable in a direction perpendicular to the direction of movement of the workpiece support means and relative to the carrier of the attachment means.
The carriage is preferably configured to move generally horizontally (on movement of the two arms) and the carriage is preferably configured to move generally vertically over the carrier.

The carriage and carrier are constructed in a nested manner,
In a preferred construction, the carriage moves under the carrier by means including a plurality of pneumatic balancer cylinders and is guided by rollers disposed on one of the carriages and configured to roll along the other.

The workpiece support means are configured to include any one of a variety of workpiece holding attachments, such as vacuum caps, jaws, gripping fin forces, magnets, etc., for picking up, moving and releasing the workpiece. An electrical and/or numerical control system (not shown) may be used to synchronize the operation of the apparatus and workpiece holding attachments, for example with the operation of a press, which the apparatus automatically loads and/or unloads. Also good.

The attachment means of the workpiece handling device may be fixed in any position. i.e., a powered transfer carriage or transfer system, either fixed directly to the press frame or across the press.

It may be fixed to the conveyor. Since the guide rail is omitted from the workpiece support means, there is ample space on the floor of the rotor of the press, which allows for high speed and efficient operation.

The apparatus, which represents a preferred form of the invention, includes mounting means 10 which can be fixed to the frame of a large industrial press used for forming large steel workpieces, such as the roof of a motor vehicle. A first arm 12 (hereinafter referred to as a crank or upper arm) is pivoted to a mounting means so as to move about a first vertical pivot 14. A second arm 16 (hereinafter referred to as a crank lever or The crank arm 1 (referred to as the lower arm) moves around the center of the second vertical pivot 18i (referred to as the lower arm).
It is supported by 2. The crank lever 16i is rotated such that the workpiece support means 20 moves about the third vertical axis 22.
It is supported by this. The first pivot 14 and the third pivot 22 are
It is equidistant from the axis 18. The apparatus 1 coordinates the movements of the crank arm 12 and the crank lever 16 about the first pivot 14 and the second pivot 18 such that the workpiece support means 20 moves linearly along a horizontal path. The first coordinating means includes a first gear coupling device 24 configured as follows.

The device 1 also has second coordinating means including a second gear coupling 26 for keeping the orientation 't of the workpiece support means 20 constant during the oscillating movement of the crank arm and crank lever.

The mounting means 10 (see FIGS. 2 and 3) includes a complete reciprocatable carriage 28 on which the crank arm 12 is pivoted. The carriage 28 is vertically reciprocatable relative to the carrier 30ζ of the attachment means. The carriage and carrier are configured into a pup. T or carriage 2
8 is attached to fl11 of the carrier 30.

The carriage includes a linear vertically arranged cylindrical frame 32 having a generally zeta-hexagonal cross section supporting an internal cross plate 34. The first pulley 36 and the inner race of the first rotatable bear link 38 of the apparatus are identified at the bottom end of the cylindrical frame 32 and coaxially aligned with the frame.

The carrier 30 includes a generally hexagonal cylindrical frame 40 disposed coaxially with the carriage rotation 9f and depending from an annular horizontal top plate 42. From the outer periphery of the top plate to shield the frame 40 of the carrier.
A cylindrical skirt 44 hangs down.

The carriage 28 moves vertically within the carrier 30 guided by 16 rollers 46i that are arranged to roll along a linear track 48 that is attached to the carrier frame 40 and fixed to the outer surface of the carriage frame 32. It is constructed as follows.Four sets 50, 52, 54 and 56 each made of four rollers are arranged,
Each set of rollers extends in the longitudinal direction of the carriage, and these sets are arranged in two opposing pairs, i.e., the line of action of one set 50 and 540 is parallel to the line of action of the other set 52.
and 56 are perpendicular to the line of action.

Each set has an upper pair of rollers and a lower pair of rollers. These two pairs are spaced apart in the longitudinal direction of the carriage, and the rollers of each pair of rollers are spaced apart in the lateral direction of the carriage. The rollers 46 of the roller pair are pivotally mounted on the radially inwardly facing side walls of the channel-shaped portion of the carrier frame 40, and the two rollers are disposed between the side walls.

Carriage 28 has a carriage 28 which acts between the carrier and the carriage to receive the weight of the carriage and its load.
Depending from the carrier 30 are two pneumatic balancer cylinders 58 and 60.

The supply of pressurized air to the cylinder is controlled by suitable means, so that the pressure in the cylinder is maintained constant as the carriage moves. The cylinder extends vertically on either side of the carriage axis and between top brackets 62 and 64 fixed to the top plate 42 of the carrier and bottom brackets 66 and 68 fixed to a portion near the bottom end of the carriage frame 32. do. The cylinders 58 and 60 are disposed equidistant from and on either side of the carriage/carrier axis, which is also the first pivot 14, as will be seen below. Each cylinder is arranged to extend from the top plate 42 between the upper rollers of the two pairs of rollers in the roller set and between the lower ports.

The device 1 includes a nutted screw arrangement for determining the relative vertical position of the carriage 28 with respect to the carrier 80. One side of this screw with a nut is attached to one side of the carriage and the carrier.
The motor 7 is fixed so that it cannot rotate once, and the other motor 7 is fixed to the other side of the carriage and carrier.
The vertical motion actuating means includes a vertical motion actuating means. The lift motor 70 is connected to the well 72 of the carrier.
It is shown mounted within and attached to carrier 30. Lift motor 70 includes an output shaft 74 configured to rotate first pivot 14 upward and downward. ' Screw 78 (coupling 76i is secured to shaft 74). Screw 78 is secured to recirculation pole nut 80 secured to cross plate 34 of the carriage.
It is screwed on. Encoder/tachometer unit 82
and a brake unit 84 are engaged with the motor 70.

The crank arm 12 (such as a bolt (not shown)) is a first rotating body below the carriage frame 32 .

The crank lever 16 is pivoted near the outer end of the crank arm 12 on a second pivot point 18 for rotation above and below the crank arm 12. It is attached to the arm 12 by a bearing link 86. The outer race of the bearing 86 is fixed to the crank arm 12 by bolts or the like (not shown), and the inner race is fixed to the crank lever 16 (which is fixed to the crank arm 12). .

Horizontal motion actuation means are coupled to the crank lever 16 and configured to rotate the crank lever 16 about a second pivot 18 on a second rotatable bearing 86 . This horizontal movement actuating means includes a second motor 88 of the device. The motor 88 is attached to the crank arm 12 (stored within the arm) in a state where it is engaged with a reduction gear device 89 fixed to the crank arm 12. Motor 88 has a vertical output shaft 90 configured to rotate about second pivot axis 18 . The crank lever 16 is also a hollow saw-shaped metal structure.

A reduction gear device 89 and an output shaft 90 protrude from the crank arm into the inside of the crankshaft. The shaft 90 is fixed to the lever 16 by a sleeve 92 fixed to the inner surface of the bottom of the lever 16 by welding or the like. An encoder and tachometer unit 94 and a brake unit 96 are engaged with the motor 88 so that the control of the angular position of the two arms and thus the linear position of the workpiece support 20 is precisely controlled by the first gear linkage 24.
The first coordinating means having a first coordinating means includes a second pulley 98 in addition to the pulley 36 of the carriage 28. A second boot IJ 98 coaxial with the shaft 18 is fixed to a portion of the crank lever 16 and projects upwardly into the space within the crank arm. Gear linkage 24 includes a gear timing belt 100 that wraps around two gear pulleys 36 and 98 and extends across crank arm 12 between these pulleys. These pulleys are dimensioned to provide a 2°1 gear connection from the carriage 28 to the crank lever 16.

The workpiece support means 20 is pivoted near the outer end of the crank lever 16 for rotation about a third pivot 22 . The workpiece support means 20 includes a third pulley 102 of the apparatus secured to the inner race of a third rotatable pair (ring 104) by bolts or the like (not shown).The outer race of the bearing 104
The pulley is secured to the top inner surface of the hollow crank lever 16 so that the pulley is substantially entirely housed within the crank lever. An adjustable mounting retention means 106 is secured to the pulley 102 to depend below the crank lever 16 for coupling to a suitable predetermined force machine pick-up device (not shown).

The second coordinating means with the second gear coupling device 26 includes, in addition to the pulley 102 of the workpiece support means 20, the fourth pulley 108 of the device I. The fourth boo 11108 is fixed as a part of the crank arm 12 and is generally connected to the motor 8.
It is fixed under 8.

The fourth boot 1J108 is coaxial with the second pivot 18 and protrudes downward toward the inside of the crank lever 16. The second gear coupling device 26 connects the two gear pulleys 10
8 and 102 and extends across the crank lever 16 between these boots.

Pulleys 108 and 102 and a timing belt provide a 1.2 ratio gear connection from crank arm 12 to workpiece support means 20.

each belt 110 and 10 to apply balanced pressure on both sides of each belt and to compensate for slack in each belt.
It is preferable to use an idler 112 that does not extend 0.

The operating principle of the device 1 will be explained. First, the power required for horizontal movement is supplied by the motor 88. motor 88
is a decelerator 8 for moving together with the crank arm 12.
It is fixed to the crank arm 12 through 9. The rotational output shaft of the motor is fixed to the crank lever 16 for movement therewith. Thus, when motor 88 is energized, arm 12 and lever 16 move angularly about shaft 18 and relative to each other.

The amount of such relative movement is equal to the degree of rotation of the output shaft 90. For example, if the shaft rotates 90 degrees,
The included angles of the two arms change by 90 degrees.

When motor 88 is energized, pivoting of crank arm 12 about axis 14 also occurs. This pivoting occurs because pulley 98 rotates with arm 16 about axis 18. The amount of pivoting is 1 between pulley 98 and pulley 36.
．． It is determined by the diameter ratio of 2. The pulley 98 is fixed and does not move even if the belt moves by the pulley 98. Instead, the entire arm 12 is attached to the shaft 14.
The angular momentum is half the degree of rotation of the shirt (shirt) 90. For example, when shaft 90 rotates 90 degrees, arm 12 pivots about axis 14 by 45 degrees.

Looking at the device 1 in the state shown in Figure 1, there are three axes 14.1
8 and 22 are all located in the same vertical plane. When the shirt 90 is rotated, the axis 18 is moved out of this vertical plane. The shaft 14 is fixed in this vertical plane and does not move. Axis 22 remains in this vertical plane but moves to the left. That is, it moves backward from the fully extended stroke position shown in FIG. The reason why the axis 22 remains in the same vertical plane is that (,) the distance 14-18 is the same as the distance 18-2
2, so that axis 18 is always intermediate between axis 14 and axis 22, and (b) the angle of displacement of axis 18 from the vertical plane (of arm 12) due to the 1:2 ratio of pulley 98 to pulley 36. The angle formed by the position shown in FIG. 1 and its displaced position is half the included angle between the arm 12 and the lever 16. If the distances 14-18 are not equal to the distances 18-22 (particularly if the inequality is small), then this distance difference is compensated by the pulley 98 in order to keep the movement of the shaft 22 in the same vertical plane, i.e. in a straight horizontal movement. and a corresponding change in the diameter ratio of the pulley 36. 1, if you want a change from linear motion, pulleys 98 and 36
Distance 14~18 and distance 18~ according to the appropriate dimensions of
This can be achieved within certain limits by providing 22 changes. It is generally preferred that distances 14-18 be isosceles substantially equal to distances 18-22. Because of this relationship, the straight line travel is maximized (
In other words, the distance is 14 to 18 or the distance is 18 to 2204 times), and the relationship between the length and the pulley diameter becomes simpler.

The orientation of workpiece attachment 106 about axis 22 is controlled by coordination means 26 . The aforementioned pulley 10
Due to the 1:2 ratio of 8 and puto 102, the rotation of workpiece attachment 106 is equal to the angular movement of arm 12 about axis 14, so that the workpiece attachment remains straight even when moved horizontally. Alternatively, different orientations can be achieved automatically by changing the pulley ratio.

Alternatively, the coordinating means can be omitted, and the workpiece attachment 106 can be configured to simply rotate freely and manually according to the bearing 104, or, if the bearing is omitted, the workpiece attachment 106 can be configured to not rotate at all. You can also do it.

In combination with water motion or independently, life motion
Vertical movement of the workpiece holding attachment 106 can be achieved by appropriately biasing the Tough 0. Although the motor 70 is shown aligned with the shaft 14, the vertical motion actuation and support mechanism of the motor 70 may be located elsewhere, such as on the shaft 18. Similarly, although the rotating horizontal drive motor is shown disposed on shaft 18, it may be disposed elsewhere, for example on shaft 14. This is because the two coordination systems 24 and 26 maintain certain relationships between the various components.

In the preferred embodiment described above, gear couplings 24 and 26
Although gear pulleys and timing belts are used as the gear pulleys and timing belts, other suitable forms of gear linkages may be used in other embodiments.
For example, chains, V-belts, wire ropes or gear trains) may be used. Similarly, instead of the electric motors 70 and 88, hydraulic motors or the like may be used depending on the purpose.

When used in manufacturing equipment, two motors 70 and 88
The operation of the can be controlled and coordinated by any suitable control system. Additionally, actuation of the motors using a computerized numerical control system to obtain a desired sequence or combination of horizontal and vertical movements and to ensure a desired automatically repeatable path of movement of the workpiece holding attachment 106. may be programmed. For example, the jaws shown in U.S. Pat. No. 8,975,992;
Alternatively, a workpiece holding attachment, such as a controllable magnet or a vacuum cap, can be secured to the attachment holding means 106 and operates in unison with the device 1 to hold the workpiece (not shown) against an industrial press, conveyor, etc. Pick up, move, load and/or unload, and release.

Thus, the present invention provides a large rotatable bearing (
In particular, the bearings 38) and other features mentioned above eliminate the need for guide tracks (guide trunks such as those used in British Patent No. 1.39!1x085) and provide arcuate control to impart the desired movement to the workpiece. A heavy load workpiece handling device using cantilever action is provided.

[Brief explanation of the drawing]

FIG. 1 is a sectional view of a device according to the invention. The extended part is a diagram showing a cross section about the vertical intermediate plane, Figure 2 is a partial diagram similar to Figure 1 showing the attachment means of this device, and Figure 3 is a diagram showing the line ■-III of Figure 2. Partial plan sectional view of. DESCRIPTION OF SYMBOLS 1... Loading/unloading device, 10... Attachment means, 12
...First cantilever arm, 14...First pivot, 16
...Second cantilever arm, 18...Second pivot, 20
...Workpiece support means, 22...Third axis, 24...
- First cooperation means, 26... second cooperation means. Patent Applicant Sir 117 International F. Refuo,. Rage-1/C Tatogoshiro] 3-・

Claims (1)

Claims: (1) Attachment means having a substantially vertical axis including a first pivot; and a first cantilever arm pivoted to the attachment means for movement about the first pivot. and the first cantilever has a second cantilever arm pivoted to the di-arm to move about a second pivot axis substantially parallel to the first pivot axis; a cantilever comprising workpiece support means disposed adjacent the end of the arm and aligned with a third pivot substantially parallel to the first pivot and the second pivot; and an eighth pivot at a predetermined fixed distance from said second pivot (in an apparatus for loading and/or unloading stamped products or the like, supported by at least one of said cantilever arms and supported by said cantilever arm); a structure movable with at least one of the arms and centered about the first and second pivot axes such that the workpiece support means moves along a predetermined horizontal path perpendicular to the pivot axes; coordinating means including a structure arranged to coordinate the movements of the cantilever arms, and coordinating the cantilever arms relative to each other about the second pivot axis; and power-operated actuating means coupled to said cooperating means for rotating said first cantilever arm on said mounting means, thereby causing said workpiece support means to move in said predetermined path. (2) defining said first pivot axis and pivoting said first cantilever arm to said attachment means; 2. The mounting means according to claim 1, further comprising rotatable bearing means for supporting, receiving substantially the entire load on said two cantilever beams and transmitting said load to said mounting means. (8) The device according to claim 1, wherein the first and second cantilevers include means for vertically moving the diarm simultaneously (in a direction perpendicular to the predetermined path). (4) A linearly reciprocating carriage disposed on the attachment means and a carrier disposed on the attachment means, the carriage moving along the predetermined path (in a direction perpendicular thereto and relative to the carrier); 2. The apparatus of claim 1, wherein the first cantilever arm is pivotably mounted on the carriage. a first cantilever arm pivoted to the attachment means for movement; and a first cantilever arm pivoted to the first cantilever arm for movement about a second axis parallel to the first axis. a second cantilever arm, and a workpiece support pivoted on the second cantilever arm for movement about the first pivot axis and the second pivot axis (eighth axis parallel thereto); and wherein the first pivot and the third pivot are substantially equidistant from the second pivot; The cantilever about the first and second pivots to move along a straight path ζ has a first coordinating means configured to coordinate the movement of the arms, and the cantilever has nine arms. A workpiece or the like, characterized in that it comprises second coordinating means comprising a gear coupling with said workpiece support means, thereby predetermining the orientation of said workpiece support means over said path. equipment for loading and unloading. (6) actuating means attached to the first cantilever arm and coupled to the second cantilever arm to rotate the second cantilever arm about the second pivot; 6. Apparatus according to claim 5, characterized in that it causes rotation of said first cantilever arm and subsequent linear movement of said workpiece support means. (7) Linear reciprocating gear equipped with the above-mentioned mounting means
- a ξ ridge, the attachment means comprising a carrier, the carriage reciprocating in a direction perpendicular to the direction in which the workpiece support means is determined to move and relative to the carrier; 6. The apparatus of claim 5, further comprising a linearly reciprocatable carriage capable of linear reciprocation and rotatable bearing means pivotally supporting said first cantilever arm to said carriage. (81) The device according to claim 7, characterized in that the carriage and the carrier are constructed in a nested manner. (9) The device is attached to one of the carriage and the carrier and along the other 9. The apparatus of claim 8, further comprising rollers configured to roll and operative to guide the telescopic movement of the carriage. said rollers (guided thereby, each roller set extending in the longitudinal direction of said carriage and said roller sets being arranged in two pairs of opposing sets, the lines of action of said two pairs of roller sets being at right angles to each other; 10. The apparatus of claim 9, wherein: (U) each set of at least one of said pairs of roller sets includes two pairs of rollers, said two pairs of rollers being connected to said carriage; 10. The apparatus of claim 9, wherein the carriages are spaced apart in the longitudinal direction of the carriage, and the rollers of each pair of rollers are spaced apart in the lateral direction of the carriage. (2) The apparatus according to claim 9, wherein the carriage is mounted within the carrier, and the roller is mounted on the carrier. (8) The carriage is mounted relative to the carrier. a screw device with a nut for determining relative positions, one of said nut and screw is fixed to one of said carriage and carrier in a non-rotatable manner, and the other of said nut and screw is fixed to said other of said carriage and carrier; 8. The apparatus according to claim 7, wherein the carriage and the carrier are arranged to be rotated by a motor attached to the carriage. 14. The apparatus according to claim 13, wherein the workpiece supporting means is nested in the carrier, and the motor is mounted on the carrier. The carrier arm and the second cantilever arm are configured to move generally horizontally upon pivoting, and the carriage is configured to move generally vertically on the carrier. 7. The apparatus of claim 15. The apparatus of claim 15, wherein the carriage is suspended from the carrier by means including a plurality of pneumatic balancer cylinders. (17) The first cooperation means connects the attachment means to the second cooperation means.
a gear linkage having a substantially 2:1 ratio from the first cantilever arm to the workpiece support means, and wherein the second coordination means has a substantially 1:1 ratio from the first cantilever arm to the workpiece support means. Claim 5 characterized in that it includes two gear coupling devices.
Apparatus described in section. (18) the first cantilever arm and the second cantilever arm are hollow, and the first gear coupling device extends through the first cantilever arm and into the second cantilever arm;
18. The apparatus of claim 17, wherein said second gear coupling extends through said second arm and to said workpiece support means. (19) The gear coupling device includes a timing belt extending through the cantilever arm and a pulley disposed on each of the three shafts, and the timing belt extends around the pulley. 19. A device according to claim 18, characterized in that it comprises: 20. The apparatus of claim 19, further comprising idler means engaged with said timing belt to compensate for slack in said timing belt.